Add DMA support to HAL and WPILibC (#2080)

hal/src/main/native/athena/Encoder.cpp

@@ -238,6 +238,19 @@ void InitializeEncoder() {
 }  // namespace init
 }  // namespace hal
 
+namespace hal {
+bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+                          HAL_FPGAEncoderHandle* fpgaHandle,
+                          HAL_CounterHandle* counterHandle) {
+  auto encoder = encoderHandles->Get(handle);
+  if (!handle) return false;
+
+  *fpgaHandle = encoder->m_encoder;
+  *counterHandle = encoder->m_counter;
+  return true;
+}
+}  // namespace hal
+
 extern "C" {
 HAL_EncoderHandle HAL_InitializeEncoder(
     HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,